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Goodwill and Intangible Assets - Intangible Asset Amortization (Details) - USD ($)
$ in Millions
3 Months Ended 6 Months Ended
Jun. 30, 2020
Jun. 30, 2019
Jun. 30, 2020
Jun. 30, 2019
Goodwill and Intangible Assets Disclosure [Abstract]        
Amortization expense $ 15.3 $ 15.5 $ 30.6 $ 31.1
Finite-Lived Intangible Assets, Net, Amortization Expense, Fiscal Year Maturity [Abstract]        
2020 62.0   62.0  
2021 62.0   62.0  
2022 62.0   62.0  
2023 61.0   61.0  
2024 60.0   60.0  
After 2024 $ 60.0   $ 60.0